diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index ec21360d2f..38a6c3c18e 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -142,10 +142,20 @@
         # collision check parameters
         check_all_predicted_path: false                  # [-]
         time_resolution: 0.5                             # [s]
-        time_horizon: 10.0                               # [s]
+        time_horizon_for_front_object: 3.0               # [s]
+        time_horizon_for_rear_object: 10.0               # [s]
         safety_check_backward_distance: 100.0            # [m]
-        safety_check_hysteresis_factor: 2.0              # [-]
         safety_check_ego_offset: 1.0                     # [m]
+        hysteresis_factor_expand_rate: 1.5               # [-]
+        hysteresis_factor_safe_count: 10                 # [-]
+        # rss parameters
+        expected_front_deceleration: -1.0                # [m/ss]
+        expected_rear_deceleration: -1.0                 # [m/ss]
+        rear_vehicle_reaction_time: 2.0                  # [s]
+        rear_vehicle_safety_time_margin: 1.0             # [s]
+        lateral_distance_max_threshold: 2.0              # [m]
+        longitudinal_distance_min_threshold: 3.0         # [m]
+        longitudinal_velocity_delta_time: 0.8            # [s]
 
       # For avoidance maneuver
       avoidance:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
index aa56edee2f..5de4c0d27b 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -29,19 +29,6 @@
 
     visualize_maximum_drivable_area: true
 
-    lateral_distance_max_threshold: 1.7
-    longitudinal_distance_min_threshold: 3.0
-    longitudinal_velocity_delta_time: 0.8
-
-    expected_front_deceleration: -1.0
-    expected_rear_deceleration: -1.0
-
-    expected_front_deceleration_for_abort: -1.0
-    expected_rear_deceleration_for_abort: -2.0
-
-    rear_vehicle_reaction_time: 2.0
-    rear_vehicle_safety_time_margin: 1.0
-
     lane_following:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 8ac00c5c1b..194f67fa8c 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -27,6 +27,18 @@
       min_longitudinal_acc: -1.0
       max_longitudinal_acc: 1.0
 
+      # safety check
+      safety_check:
+        expected_front_deceleration: -1.0
+        expected_rear_deceleration: -1.0
+        expected_front_deceleration_for_abort: -1.0
+        expected_rear_deceleration_for_abort: -2.0
+        rear_vehicle_reaction_time: 2.0
+        rear_vehicle_safety_time_margin: 1.0
+        lateral_distance_max_threshold: 2.0
+        longitudinal_distance_min_threshold: 3.0
+        longitudinal_velocity_delta_time: 0.8
+
       # lateral acceleration map
       lateral_acceleration:
         velocity: [0.0, 4.0, 10.0]